Add asset bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66
Browse files- .gitattributes +2 -1
- dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/affordance/affordance_annot.json +620 -0
- dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/hair_clip_028.urdf +1 -0
.gitattributes
CHANGED
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@@ -5783,4 +5783,5 @@ dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/afforda
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| 5783 |
dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5784 |
dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5785 |
dataset/bathroom_supplies/personal_care/4545553416145d2a8d03ee4079d303db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5786 |
-
dataset/bathroom_supplies/personal_care/
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| 5783 |
dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5784 |
dataset/bathroom_supplies/personal_care/42fe3c1e4f21594b840ed7043c466ca4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5785 |
dataset/bathroom_supplies/personal_care/4545553416145d2a8d03ee4079d303db/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5786 |
+
dataset/bathroom_supplies/personal_care/4574f34489e157dca00e278cb5cf5076/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5787 |
+
dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,620 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "upper outer arm",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the long outer arm to pick up and reposition the hair clip",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the outer arm to stabilize the clip while actuating the press pad",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"form the main outer body of the clip",
|
| 19 |
+
"press against the lower arm to clamp hair",
|
| 20 |
+
"provide the primary grasp surface",
|
| 21 |
+
"guide the clip shape and alignment"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large elongated beige plastic outer arm with a smooth slightly glossy surface, rounded tapered tip, and long narrow cutout slots along the top face.",
|
| 24 |
+
"id": 7,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_40": {
|
| 27 |
+
"confidence": 0.8451663255691528,
|
| 28 |
+
"position": [
|
| 29 |
+
0.1030058553442359,
|
| 30 |
+
-0.004503703843511175,
|
| 31 |
+
0.019589597708545625
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5070006236196365,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.5057489826334287,
|
| 37 |
+
-0.5717246481099242,
|
| 38 |
+
0.4003739014448056
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_41": {
|
| 43 |
+
"confidence": 0.8437381386756897,
|
| 44 |
+
"position": [
|
| 45 |
+
0.10167258884757757,
|
| 46 |
+
-0.007084215227223467,
|
| 47 |
+
0.017310275114141405
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.49595833390512073,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.5354025643132778,
|
| 53 |
+
-0.5361962849146786,
|
| 54 |
+
0.4241025456190044
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_42": {
|
| 59 |
+
"confidence": 0.8132026195526123,
|
| 60 |
+
"position": [
|
| 61 |
+
0.10259534325450659,
|
| 62 |
+
-0.009331273082352709,
|
| 63 |
+
0.015420105657540262
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.4408991988195706,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.6033198498023395,
|
| 69 |
+
-0.44851764323664334,
|
| 70 |
+
0.4903518930525201
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_43": {
|
| 75 |
+
"confidence": 0.8041430711746216,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.11531712207943201,
|
| 78 |
+
-0.004154293965257239,
|
| 79 |
+
-0.015455726184882224
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.7490366034847192,
|
| 83 |
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+
0.08655457105487585,
|
| 496 |
+
0.019408384170674253,
|
| 497 |
+
0.07127296400722116
|
| 498 |
+
],
|
| 499 |
+
"orientation": {
|
| 500 |
+
"w": 0.23553307415668806,
|
| 501 |
+
"xyz": [
|
| 502 |
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-0.6420765392510003,
|
| 503 |
+
-0.6298921887623583,
|
| 504 |
+
0.36810014840790856
|
| 505 |
+
]
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"grasp_14": {
|
| 509 |
+
"confidence": 0.47769254446029663,
|
| 510 |
+
"position": [
|
| 511 |
+
0.052238608710467815,
|
| 512 |
+
0.00028726475284202024,
|
| 513 |
+
0.09988859517034143
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.15086178378799664,
|
| 517 |
+
"xyz": [
|
| 518 |
+
0.6848689058989276,
|
| 519 |
+
-0.7007061069553598,
|
| 520 |
+
-0.13117261757155527
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_15": {
|
| 525 |
+
"confidence": 0.47298645973205566,
|
| 526 |
+
"position": [
|
| 527 |
+
0.08279371168464422,
|
| 528 |
+
-0.026744280177808832,
|
| 529 |
+
0.07110788894351572
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.16947314759430812,
|
| 533 |
+
"xyz": [
|
| 534 |
+
0.6828351036859458,
|
| 535 |
+
-0.5893312610951194,
|
| 536 |
+
-0.39711929959990433
|
| 537 |
+
]
|
| 538 |
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}
|
| 539 |
+
},
|
| 540 |
+
"grasp_17": {
|
| 541 |
+
"confidence": 0.3916027843952179,
|
| 542 |
+
"position": [
|
| 543 |
+
0.05238893162459135,
|
| 544 |
+
0.03788541240646737,
|
| 545 |
+
0.09080350620206445
|
| 546 |
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],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.007631043630915597,
|
| 549 |
+
"xyz": [
|
| 550 |
+
0.6982635689306907,
|
| 551 |
+
0.6483401441661455,
|
| 552 |
+
-0.3033559179246366
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
}
|
| 556 |
+
}
|
| 557 |
+
},
|
| 558 |
+
{
|
| 559 |
+
"part_name": "hinge joint",
|
| 560 |
+
"mask_color": "Teal",
|
| 561 |
+
"graspable": false,
|
| 562 |
+
"grasp_scenarios": [],
|
| 563 |
+
"functional_labels": [
|
| 564 |
+
"connect the two arms",
|
| 565 |
+
"enable opening and closing",
|
| 566 |
+
"provide pivot motion",
|
| 567 |
+
"support spring action"
|
| 568 |
+
],
|
| 569 |
+
"semantic_description": "Small rear hinge assembly made of beige plastic around the joint area, with compact mechanical geometry and smooth hard surfaces.",
|
| 570 |
+
"id": 10,
|
| 571 |
+
"grasp_group": {}
|
| 572 |
+
},
|
| 573 |
+
{
|
| 574 |
+
"part_name": "pivot pin",
|
| 575 |
+
"mask_color": "Red",
|
| 576 |
+
"graspable": false,
|
| 577 |
+
"grasp_scenarios": [],
|
| 578 |
+
"functional_labels": [
|
| 579 |
+
"secure the hinge assembly",
|
| 580 |
+
"act as a pivot fastener",
|
| 581 |
+
"maintain mechanical alignment"
|
| 582 |
+
],
|
| 583 |
+
"semantic_description": "Very small pin-like fastener visible in the hinge area, appearing as a tiny beige to shadowed detail recessed within the rear mechanism.",
|
| 584 |
+
"id": 0,
|
| 585 |
+
"grasp_group": {}
|
| 586 |
+
},
|
| 587 |
+
{
|
| 588 |
+
"part_name": "tip logo patch",
|
| 589 |
+
"mask_color": "Yellow",
|
| 590 |
+
"graspable": false,
|
| 591 |
+
"grasp_scenarios": [],
|
| 592 |
+
"functional_labels": [
|
| 593 |
+
"display branding",
|
| 594 |
+
"provide product identification",
|
| 595 |
+
"mark the outer face near the tip"
|
| 596 |
+
],
|
| 597 |
+
"semantic_description": "Small rectangular beige patch near the tapered tip on the outer arm, with a smooth surface and faint embossed or molded markings.",
|
| 598 |
+
"id": 3,
|
| 599 |
+
"grasp_group": {}
|
| 600 |
+
},
|
| 601 |
+
{
|
| 602 |
+
"part_name": "internal spring element",
|
| 603 |
+
"mask_color": "Lime Green",
|
| 604 |
+
"graspable": false,
|
| 605 |
+
"grasp_scenarios": [],
|
| 606 |
+
"functional_labels": [
|
| 607 |
+
"store elastic energy",
|
| 608 |
+
"assist reopening",
|
| 609 |
+
"support clamp tension"
|
| 610 |
+
],
|
| 611 |
+
"semantic_description": "Tiny internal spring-related component visible through the slot near the center and hinge region, appearing as a small beige to metallic detail within the mechanism.",
|
| 612 |
+
"id": 9,
|
| 613 |
+
"grasp_group": {}
|
| 614 |
+
}
|
| 615 |
+
],
|
| 616 |
+
"quality_check": {
|
| 617 |
+
"success": false,
|
| 618 |
+
"message": "Several parts are misidentified or over-segmented: no distinct logo patch, pivot pin, or separate spring element clearly visible; hinge description also inaccurate."
|
| 619 |
+
}
|
| 620 |
+
}
|
dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:860bcf682b801dd368035fe088852819bad79ef4e4225ad00a99ca83c850248b
|
| 3 |
+
size 3793924
|
dataset/bathroom_supplies/personal_care/46af4d4157d85730b2928666fc355e66/hair_clip_028.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|